talos_gazebo_spawn_hs_wide.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="left_leg_pose" default="-J leg_left_1_joint -0.001 -J leg_left_2_joint 0.062 -J leg_left_3_joint -0.4096 -J leg_left_4_joint 0.8568 -J leg_left_5_joint -0.4472 -J leg_left_6_joint -0.0600"/>
  <arg name="right_leg_pose" default="-J leg_right_1_joint 0.002 -J leg_right_2_joint -0.0603 -J leg_right_3_joint -0.4094 -J leg_right_4_joint 0.8563 -J leg_right_5_joint -0.4469 -J leg_right_6_joint 0.0560"/>
  <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
  <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
  <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />

  <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
  
  <include file="$(find talos_gazebo)/launch/talos_spawn.launch">
  <arg name="robot"  value="$(arg robot)"/>
  <arg name="gzpose" value="$(arg gzpose)"/>
  </include>
  
</launch>